Study on motion control of mobile robot based on lyapunov direct method

摘要

The researches on mobile robot involve many directions, the basis of which is the motion control. By analyzing the kinematics simulation of mobile robot, this paper demonstrates the feasibility of lyapunov direct method techniques using in mobile robot motion control with the experimental subject of pionieer3DX wheeled mobile robot. And this experiment proves that this method not only can increase the adjustment ability of controller, but also can simplify the design of controller to some extent.